from launch import LaunchDescription
from launch_ros.actions import LifecycleNode, Node
from launch.actions import IncludeLaunchDescription
from launch.substitutions import PathJoinSubstitution 
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():

    return LaunchDescription([
        LifecycleNode(
            package='local_navigation',
            executable='local_navigator',
            name='local_navigator',
            namespace='',
            parameters=[
                PathJoinSubstitution([                    
                    get_package_share_directory('local_navigation'), 
                    'config',
                    'local_navigator.params.yaml'
                ])   
            ],
            output='screen'
        )
    ])